CN206154320U - Arm motion gesture trapper and robot arm moving system - Google Patents
Arm motion gesture trapper and robot arm moving system Download PDFInfo
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- CN206154320U CN206154320U CN201621152495.0U CN201621152495U CN206154320U CN 206154320 U CN206154320 U CN 206154320U CN 201621152495 U CN201621152495 U CN 201621152495U CN 206154320 U CN206154320 U CN 206154320U
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Abstract
The utility model discloses an arm motion gesture trapper and robot arm moving system, including first control ware and the three inertia measuring transducer of group, every inertia measuring transducer of group includes accelerograph, gyroscope and magnetometer, the first inertia measuring transducer of group arranges in the one -sided front position of human body, the inertia measuring transducer of second group arranges in the one -sided forearm position of human body, the inertia measuring transducer of third group arranges in the one -sided big arm position of human body, its advantage is that the user is when walking or running, the gesture of whipping arm is sent for the first control ware with the data mode through inertia measuring transducer, the first control ware and the interior the second controllor real -time communication of robot arm of arm motion gesture trapper, perhaps the inside data transmission who notes of first control ware gives the second controllor, the controller carries out repetitive operation with this data management robot arm who notes, the wobbling action of user's (human body) more is close in messenger robot arm's action.
Description
Technical field
This utility model is related to a kind of robot control field, more particularly to arm motion attitude catcher and robot
Arm motor system.
Background technology
In people in the case of concern own health, Intelligent bracelet starts gradually fine as the auxiliary equipment of running body-building
Appear, hundreds of products of current thirties brands are being sold, and price is from dozens of yuan to thousands of units.Consumer is often
Complaint Intelligent bracelet there are problems that detecting that step number is inaccurate, heart rate measuring error is big, endurance.
The electronic pedometer such as accutron and bracelet is worn over user on hand, arm per whipping once, electronic pedometer
One data of record.In order to simulate and testing the actually used situation of electronic pedometer, and human body is freed, usually adopted
Robot arm is substituting the arm of user.But robot arm is in whipping, due to robot and user (human body)
Arm motion attitude it is not consistent, this can cause the data that electronic pedometer is obtained from simulation test with electronic pedometer in reality
The data obtained during the use of border have differences, and have impact on the objectivity and verity of test.It is therefore desirable to providing one
Human arm motion's attitude catcher, and using the robot arm kinetic system of this human arm motion's attitude catcher
Unite to meet the test verity and objectivity of step counting system.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of human arm motion's attitude catcher and robot
Arm motion system, the catcher first captures the athletic posture of user (human body) arm in walking or running, then will
Above-mentioned data are transferred to the robot arm with step counting system, the motion of the true simulation human arm of robot arm energy
Attitude, test environment is more objective and true, therefore can more accurately test the step counting systems such as bracelet and accutron.
Solve the technical scheme that technical problem of the present utility model needs to provide：Arm motion attitude catcher, including the
One controller and three groups of inertia measurement sensors, the first described controller is connected with three groups of inertia measurement sensors, and per group is used to
Property measurement sensor include accelerograph, gyroscope and magnetometer, first group of inertia measurement transducer arrangements is unilateral in human body
Front position, second group of inertia measurement transducer arrangements is in the unilateral forearm position of human body, the 3rd group of inertia measurement sensor cloth
It is placed in the unilateral large arm position of human body.
The further preferred version of this utility model：Also include wireless transmitter module, described the first controller with it is described
Wireless transmitter module connection.
The further preferred version of this utility model：Three groups of described inertia measurement sensors are arranged on and can be set on human body
On wrap member on.
The further preferred version of this utility model：Robot arm motor system, including robot arm and arm fortune
Dynamic attitude catcher, described robot arm includes arm component, electric machine assembly and second controller, second controller and electricity
Thermomechanical components connect, and electric machine assembly is connected with arm component, and second controller is by the dynamic of controlled motor Component driver arm component
Make, it is characterised in that arm motion attitude catcher, including the first controller and three groups of inertia measurement sensors, described first
Controller is connected with three groups of inertia measurement sensors, and every group of inertia measurement sensor includes accelerograph, gyroscope and magnetometer,
, in the unilateral front position of human body, second group of inertia measurement transducer arrangements is in human body list for first group of inertia measurement transducer arrangements
The forearm position of side, the 3rd group of inertia measurement transducer arrangements are in the unilateral large arm position of human body, the first controller and the second control
Device processed is connected with each other.
The further preferred version of this utility model：Described robot arm includes wireless receiving module, described handss
Arm athletic posture catcher includes wireless transmitter module, and the first described controller is connected with wireless transmitter module, described
Second controller is connected with wireless receiving module, and described wireless transmitter module is in communication with each other with wireless receiving module.
The further preferred version of this utility model：Arm component includes principal post and the robot arm being fixed on principal post,
Described robot arm includes mechanical shoulder, mechanical large arm and mechanical forearm, and driving robot arm is provided with described principal post
First motor of swing and the second motor of driving robot arm sideshake, in described mechanical large arm driving is provided with
3rd motor of mechanical forearm rotation and the 4th motor of the mechanical forearm bending of driving.
The further preferred version of this utility model：Robot arm includes the stepping electricity for driving arm component to move up and down
Machine.
The further preferred version of this utility model：First motor, the second motor, the 3rd motor and the 4th motor are rudder
Machine.
The further preferred version of this utility model：First controller include the first single-chip microcomputer, the first power regulator and
Lithium battery, lithium battery is powered by the first power regulator to the first single-chip microcomputer.
The further preferred version of this utility model：Second controller include second singlechip, second source manostat and
Industrial power, industrial power is powered by second source manostat to second singlechip.
Compared with prior art, the utility model has the advantages that three groups of inertia measurement sensors are separately positioned on human body one side
Front position, large arm position and forearm position, in walking or running, the attitude of whipping arm is by used for user (human body)
Property measurement sensor is sent to the first controller, first controller and robot of arm motion attitude catcher with data mode
Second controller real-time Communication for Power in arm, or the data is activation that the first controller internal record gets off is to second controller,
Controller carries out palikinesia with the Data Control robot arm recorded, and makes the action of robot arm closer to making
The wobbling action of user's (human body), reaches the verity and objectivity of motor pedometer simulation test.
Description of the drawings
Fig. 1 is layout of the arm motion attitude catcher on human body；
Fig. 2 a-b-c are three state diagrams of swinging position of human arm；
Fig. 3 is the structure chart of robot arm；
Fig. 4 is the circuit control structure block diagram of arm motion attitude catcher；
Fig. 5 is the circuit control structure block diagram of robot arm.
Specific embodiment
This utility model is described in further detail below in conjunction with accompanying drawing embodiment.
When the pedometer such as accutron and bracelet needs to test its performance, it is worn on robot arm, using machine
The attitude of human arm whipping is transported first simulating arm whipping attitude of the user (human body) in running or walking by arm
Dynamic attitude catcher catches the athletic posture of human body, by the real-time data transmission to robot arm or by under the data record
To be transferred to robot arm, for reappearing arm whipping attitude when human body is run or walked, exactly to test electricity
The pedometer such as sub- wrist-watch and bracelet.
As shown in Figure 1 and Figure 4, arm motion attitude catcher, including the first controller and three groups of inertia measurement sensors
2, the first controller is connected with three groups of inertia measurement sensors 2, and every group of inertia measurement sensor 2 includes accelerograph 21, gyro
Instrument 22 and magnetometer 23, first group of inertia measurement sensor 2 is arranged in the unilateral front position of human body, and second group of inertia measurement is passed
Sensor 2 is arranged in the unilateral forearm position of human body, and the 3rd group of inertia measurement sensor 2 is arranged in the unilateral large arm position of human body.
Also include wireless transmitter module 4, the first controller is connected with wireless transmitter module 4.Three groups of inertia measurement sensors 2 are arranged on can
It is set on the wrap member 5 on human body.Accelerograph 21 is used for recording the mobile speed of arm (large arm or forearm), gyroscope 22
For recording the data rolled over, such as the amplitude for rotating and the speed of rotation, magnetometer is used for recording the displacement that arm is moved
Information.Three sample points of human body are inertia measurement induction apparatuss nodes, and each node is integrated with accelerometer, gyroscope, magnetic
Power meter, the induction apparatuss of forearm position are used to gather the kinestate of forearm, and large arm position sensor is used to gather the motion of large arm
State, front induction apparatuss are used to judge that the relative angle that human body movement in vertical direction state and correction human body steering are produced is inclined
Difference.
As shown in Figure 4 and Figure 5, robot arm motor system, including robot arm and arm motion attitude catcher,
Robot arm includes arm component 7, electric machine assembly 8 and second controller, and second controller is connected with electric machine assembly 8, motor
Component 8 is connected with arm component 7, and second controller drives the action of arm component 7, arm motion by controlled motor component 8
Attitude catcher, including the first controller and three groups of inertia measurement sensors 2, the first controller and three groups of inertia measurement sensors
2 connections, every group of inertia measurement sensor 2 includes accelerograph 21, gyroscope 22 and magnetometer 23, first group of inertia measurement sensing
Device 2 is arranged in the unilateral front position of human body, and second group of inertia measurement sensor 2 is arranged in the unilateral forearm position of human body, the
Three groups of inertia measurement sensors 2 are arranged in the unilateral large arm position of human body, and the first controller is connected with each other with second controller.Root
According to user (human body) athletic posture data conversion into the motor on each robot arm velocity of rotation and motion angle
Degree.
Robot arm includes wireless receiving module 10, and arm motion attitude catcher includes wireless transmitter module 4, the
One controller is connected with wireless transmitter module 4, and second controller is connected with wireless receiving module 10, wireless transmitter module 4 and nothing
Line receiver module 10 is in communication with each other.Can be with radio communication between arm motion attitude catcher and robot arm, it is possibility to have
Line communicates；The action of the data real-time control machine human arm that arm motion attitude catcher can be collected, it is also possible to will
The data input that arm motion attitude catcher is collected repeats the arm fortune of human body to the control process center of robot arm
Dynamic attitude.
As shown in figure 3, arm component 7 includes principal post 71 and the robot arm 72 being fixed on principal post 71, robot arm 72
Including mechanical shoulder 721, mechanical large arm 722 and mechanical forearm 723, the driving swing of robot arm 72 is installed on principal post 71
The first motor 81 and drive the second motor 82 of the sideshake of robot arm 72, driving machinery is installed in mechanical large arm 722
3rd motor 83 of the rotation of forearm 723 and the 4th motor 84 of the mechanical bending of forearm 723 of driving.
Robot arm 6 includes the motor 85 for driving arm component 7 to move up and down.Robot arm moves up and down shape
State is used to simulate arm motion attitude of the human body in stair climbing, and the controllability and elaboration of motor is more excellent.Motor
The joint of simulation leg.
First motor 81, the second motor 82, the 3rd motor 83 and the 4th motor 84 are steering wheel.The horsepower of steering wheel and execution
Than larger, four steering wheels simulate respectively the joint of human arm to power.
As shown in figure 4, the first controller includes the first single-chip microcomputer 11, the first power regulator 12 and lithium battery 13, lithium electricity
Pond 13 is powered by the first power regulator 12 to the first single-chip microcomputer 11.Arm motion attitude catcher power consumption is smaller,
Lithium battery is relatively adapted to.
As shown in figure 5, second controller includes second singlechip 91, second source manostat 92 and industrial power 93, work
Industry power supply 93 is powered by second source manostat 92 to second singlechip 91.Second controller also includes serial ports of computers 94,
Robot arm can be docked directly with computer, and action and the fortune of robot arm are controlled with the program of computer settings
Dynamic attitude.
Arm motion attitude catcher provided by the utility model and robot arm motor system are carried out above
It is discussed in detail, specific case used herein is set forth to principle of the present utility model and embodiment, the above is implemented
The explanation of example is only intended to help and understands this utility model and core concept.It should be pointed out that for the common skill of the art
For art personnel, on the premise of without departing from this utility model principle, some improvement can also be carried out to this utility model and is repaiied
Decorations, these are improved and modification is also fallen in this utility model scope of the claims.
Claims (10)
1. arm motion attitude catcher, including the first controller and three groups of inertia measurement sensors, the first described controller
It is connected with three groups of inertia measurement sensors, every group of inertia measurement sensor includes accelerograph, gyroscope and magnetometer, first group
Inertia measurement transducer arrangements are in the unilateral front position of human body, and second group of inertia measurement transducer arrangements is little in human body one side
Arm position, the 3rd group of inertia measurement transducer arrangements are in the unilateral large arm position of human body.
2. arm motion attitude catcher according to claim 1, is characterised by also including wireless transmitter module, described
First controller is connected with described wireless transmitter module.
3. arm motion attitude catcher according to claim 1, it is characterised in that described three groups of inertia measurements sensing
Device is arranged on and can be set on the wrap member on human body.
4. robot arm motor system, including robot arm and arm motion attitude catcher, described robot arm
Including arm component, electric machine assembly and second controller, second controller is connected with electric machine assembly, electric machine assembly and arm component
Connection, the action that second controller passes through controlled motor Component driver arm component, it is characterised in that arm motion attitude catches
Device, including the first controller and three groups of inertia measurement sensors, described the first controller and three groups of inertia measurement sensors connects
Connect, every group of inertia measurement sensor includes accelerograph, gyroscope and magnetometer, and first group of inertia measurement transducer arrangements is in people
The unilateral front position of body, second group of inertia measurement transducer arrangements is in the unilateral forearm position of human body, the 3rd group of inertia measurement
Transducer arrangements are connected with each other in the unilateral large arm position of human body, the first controller with second controller.
5. robot arm motor system according to claim 4, it is characterised in that described robot arm includes nothing
Line receiver module, described arm motion attitude catcher includes wireless transmitter module, described the first controller with it is wireless
Transmitter module connects, and described second controller is connected with wireless receiving module, described wireless transmitter module and wireless receiving
Module is in communication with each other.
6. robot arm motor system according to claim 4, it is characterised in that arm component includes principal post and fixation
Robot arm on principal post, described robot arm includes mechanical shoulder, mechanical large arm and mechanical forearm, on described principal post
The first motor for driving robot arm swing and the second motor for driving robot arm sideshake, described machine are installed
The 3rd motor for driving mechanical forearm rotation and the 4th motor for driving mechanical forearm bending are installed in tool large arm.
7. robot arm motor system according to claim 6, it is characterised in that robot arm includes driving arm
The motor that component is moved up and down.
8. robot arm motor system according to claim 7, it is characterised in that the first motor, the second motor, the 3rd
Motor and the 4th motor are steering wheel.
9. robot arm motor system according to claim 4, it is characterised in that the first controller includes the first monolithic
Machine, the first power regulator and lithium battery, lithium battery is powered by the first power regulator to the first single-chip microcomputer.
10. robot arm motor system according to claim 4, it is characterised in that second controller includes the second monolithic
Machine, second source manostat and industrial power, industrial power is powered by second source manostat to second singlechip.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621152495.0U CN206154320U (en) | 2016-10-31 | 2016-10-31 | Arm motion gesture trapper and robot arm moving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621152495.0U CN206154320U (en) | 2016-10-31 | 2016-10-31 | Arm motion gesture trapper and robot arm moving system |
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| CN206154320U true CN206154320U (en) | 2017-05-10 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107576319A (en) * | 2017-11-01 | 2018-01-12 | 黄海 | Without pipe omnidirectional self-correction real-time displacement measurement pipe |
| CN107907344A (en) * | 2017-10-25 | 2018-04-13 | 吉利汽车研究院（宁波）有限公司 | A kind of pedestrian AEB system test platforms |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN111152260A (en) * | 2020-01-20 | 2020-05-15 | 山东大学 | Joint corner auxiliary measurement system and method for serial rotary joint mechanical arm |
| CN111782457A (en) * | 2020-06-30 | 2020-10-16 | 北京小米移动软件有限公司 | Control method and device of mechanical motion module and storage medium |
| CN113199482A (en) * | 2021-05-18 | 2021-08-03 | 徐皖东 | Robot control system synchronous with human body action |
| CN113391706A (en) * | 2021-06-25 | 2021-09-14 | 浙江工业大学 | Sensor array-based motion capture device and attitude identification method thereof |
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2016
- 2016-10-31 CN CN201621152495.0U patent/CN206154320U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907344A (en) * | 2017-10-25 | 2018-04-13 | 吉利汽车研究院（宁波）有限公司 | A kind of pedestrian AEB system test platforms |
| CN107576319A (en) * | 2017-11-01 | 2018-01-12 | 黄海 | Without pipe omnidirectional self-correction real-time displacement measurement pipe |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN111152260A (en) * | 2020-01-20 | 2020-05-15 | 山东大学 | Joint corner auxiliary measurement system and method for serial rotary joint mechanical arm |
| CN111782457A (en) * | 2020-06-30 | 2020-10-16 | 北京小米移动软件有限公司 | Control method and device of mechanical motion module and storage medium |
| CN113199482A (en) * | 2021-05-18 | 2021-08-03 | 徐皖东 | Robot control system synchronous with human body action |
| CN113391706A (en) * | 2021-06-25 | 2021-09-14 | 浙江工业大学 | Sensor array-based motion capture device and attitude identification method thereof |
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